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2019 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2019

作者： Li, Juanjuan Yuan, Yong Wang, Fei-Yue State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Qingdao Academy of Intelligent Industries Qingdao China

ISBN: (纸本)9781728128535

In the Bitcoin system, transaction fees serve not only as the fundamental economic incentive to stimulate miners, but also as an important tuner for the Bitcoin system to define the priorities in the transaction confirmation process. In this paper, we aim to study the priority rules for queueing transactions based on their associated fees, and in turn users' decision-making in formulating their fees in the transaction confirmation queueing game. Based on the queueing theory, we first analyzed the waiting time of users under non-preemptive limited multi-priority (LMP) rule, which is formulated to adjust users' waiting time over different priorities. We then established a game-theoretical model, and analyze users' equilibrium fee decisions. Towards the end, we conducted computational experiments to validate the theoretical analysis. Our research findings can not only help understand users' fee decisions under the LMP rule, but also offer useful managerial insights in optimizing the queueing rules of Bitcoin transactions. © 2019 IEEE.

关键词： Blockchain

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A Real-Time Multi-Task Framework for Guidewire Segmentation and Endpoint Localization in Endovascular Interventions

A Real-Time Multi-Task Framework for Guidewire Segmentation ...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yan-Jie Zhou Shi-Qi Liu Xiao-Liang Xie Xiao-Hu Zhou Guan-An Wang Zeng-Guang Hou Rui-Qi Li Zhen-Liang Ni Chen-Chen Fan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China CAS Center for Excellence in Brain Science and Intelligence Technology Beijing China CASIA-MUST Joint Laboratory of Intelligence Science and Technology Institute of Systems Engineering Macau University of Science and Technology China

Real-time guidewire segmentation and endpoint localization play a pivotal role in robot-assisted minimally invasive surgery, which is helpful to reduce radiation dose and procedure time. Nevertheless, the tasks often come with the challenge of limited computational resources. For this purpose, a real-time multi-task framework with two stages is developed. In the first stage, a Fast Attention-fused Network (FAD-Net) is proposed to obtain accurate guidewire segmentation masks. In the second stage, a lightweight localization network and a post-processing algorithm are designed to robustly predict the guidewire endpoint position. Quantitative and qualitative evaluations on intraoperative X-ray sequences from 30 patients demonstrate that the developed framework outperforms the previously-published results for the tasks, achieving state-of-the-art performance. Moreover, the inference rate of the developed framework is approximately 10.6 FPS, which meets the real-time requirement of X-ray fluoroscopy. These results indicate the proposed approach has the potential to be integrated into the robotic navigation framework for endovascular interventions, enabling robotic-assisted minimally invasive surgery.

关键词： Location awareness Minimally invasive surgery Navigation Prediction algorithms Real-time systems Robustness Inference algorithms

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Development and Evaluation of a 7-DOF Haptic Interface

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IEEE/CAA Journal of Automatica Sinica 2018年第1期5卷 261-269页

作者： Jian-Long Hao Xiao-Liang Xie Gui-Bin Bian Zeng-Guang Hou Xiao-Hu Zhou Key Laboratory of Management and Control for Complex Systems Institute of Automation University of Chinese Academy of Sciences Beijing 100190 China IEEE

With the development of human robot interaction technologies, haptic interfaces are widely used for 3 D applications to provide the sense of touch. These interfaces have been utilized in medical simulation, virtual assembly and remote manipulation tasks. However, haptic interface design and control are still critical problems to reproduce the highly sensitive touch sense of humans. This paper presents the development and evaluation of a7-DOF(degree of freedom) haptic interface based on the modified delta mechanism. Firstly, both kinematics and dynamics of the modified mechanism are analyzed and presented. A novel gravity compensation algorithm based on the physical model is proposed and validated in simulation. A haptic controller is proposed based on the forward kinematics and the gravity compensation algorithm. To evaluate the control performance of the haptic interface, a prototype has been implemented. Three kinds of experiments: gravity compensation, static response and force tracking are performed respectively. The experimental results show that the mean error of the gravity compensation is less than 0.7 N and the maximum continuous force along the axis can be up to 6 N. This demonstrates the good performance of the proposed haptic interface.

关键词： Dynamic modeling evaluation haptic interface impedance control

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A joint call for actions to advance taxonomy in China

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Zoological Systematics 2022年第3期47卷 188-197页

作者： Chaodong Zhu Arong Luo Ming Bai Michael COrr Zhonge Hou Siqin Ge Jun Chen Yibo Hu Xuming Zhou Gexia Qiao Hongzhi Kong Limin Lu Xiaohua Jin Lei Cai Xinli Wei Ruilin Zhao Wei Miao Qingfeng Wang Zhongli Sha Qiang Lin Meng Qu Jianping Jiang Jiatang Li Jing Che Xuelong Jiang Xiaoyong Chen Lianming Gao Zongxin Ren Chunlei Xiang Shixiao Luo Donghui Wu Dong Liu Yanqiong Peng Tao Su Chenyang Cai Tianqi Zhu Wanzhi Cai Xingyue Liu Hu Li Huaijun Xue Zhen Ye Xuexin Chen Pu Tang Shujun Wei Hong Pang Qiang Xie Feng Zhang Feng Zhang Xianjin Peng Aibing Zhang Taiping Gao Changfa Zhou Chen Shao Libin Ma Zhaoming Wei Yunxia Luan Ziwei Yin Wu Dai Cong Wei Xiaolei Huang Jingxian Liu Xiangsheng Chen Tianci Yi Zhisheng Zhang Zhulidezi Aishan Qin Li Hongying Hu CAS Key Laboratory of Zoological Systematics and Evolution Institute of ZoologyChinese Academy of SciencesBeijing 100101China CAS Key Laboratory of Animal Ecology and Conservation Biology Institute of ZoologyChinese Academy of SciencesBeijing 100101China State Key Laboratory of Systematic and Evolutionary Botany Institute of BotanyChinese Academy of SciencesBeijing 100093China State Key Laboratory of Mycology(SKLM) Institute of MicrobiologyChinese Academy of SciencesBeijing 100101China CAS Key Laboratory of Aquatic Biodiversity and Conservation Institute of HydrobiologyChinese Academy of SciencesWuhan 430072China Wuhan Botanical Garden Chinese Academy of SciencesWuhan 430074China Department of Marine Organism Taxonomy&Phylogeny Institute of OceanologyChinese Academy of SciencesQingdao 266071China CAS Key Laboratory of Tropical Marine Bio-resources and Ecology South China Sea Institute of OceanologyChinese Academy of SciencesGuangzhou 510301China CAS Key Laboratory of Mountain Ecological Restoration and Bioresource Utilization&Ecological Restoration and Biodiversity Conservation Key Laboratory of Sichuan Province Chengdu Institute of BiologyChinese Academy of SciencesChengdu 610041China State Key Laboratory of Genetic Resources and Evolution&Yunnan Key Laboratory of Biodiversity and Ecological Security of Gaoligong Mountain Kunming Institute of ZoologyChinese Academy of SciencesKunming 650221China CAS Key Laboratory for Plant Diversity and Biogeography of East Asia Kunming Institute of BotanyChinese Academy of SciencesKunming 650201China CAS Key Laboratory of Plant Resource Conservation and Sustainable Utilization South China Botanical GardenChinese Academy of SciencesGuangzhou 510650China CAS Key Laboratory of Wetland Ecology and Environment Northeast Institute of Geography and AgroecologyChinese Academy of SciencesChangchun 130102China CAS Key Laboratory of Tropical Forest Ecology Xishuangbanna Tropical Botanical GardenChinese Academy of SciencesMenglunMenglaYunnan 66630

Taxonomy plays an important role in understanding the origin, evolution, and ecological functionality of biodiversity. There are large number of unknown species yet to be described by taxonomists, which together with their ecosystem services cannot be effectively protected prior to description. Despite this, taxonomy has been increasingly underrated insufficient funds and permanent positions to retain young talents. Further, the impact factordriven evaluation systems in China exacerbate this downward trend, so alternative evaluation metrics are urgently necessary. When the current generation of outstanding taxonomists retires,there will be too few remaining taxonomists left to train the next generation. In light of these challenges, all co-authors worked together on this paper to analyze the current situation of taxonomy and put out a joint call for immediate actions to advance taxonomy in China.

关键词： Endangered taxonomists morphology-based taxonomy integrative taxonomy capacity building systematics

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A Self-identifying Checkerboard-like Pattern for Camera Calibration

A Self-identifying Checkerboard-like Pattern for Camera Cali...

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第三十九届中国控制会议

作者： Zhang Gao Mingzhu Zhu Junzhi Yu School of Artificial Intelligence University of Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking University

This paper proposes a new type of planar pattern for camera calibration featuring its checkerboard-like structure and self-identity. White and black blocks are arranged by a novel method to ensure the uniqueness of each local pattern, and meanwhile maintain all checkerboard corners. The pattern is generated by combining identification units based on a random search strategy. Positions of local patterns can be acquired by searching the global pattern, achieving the benefit of self-identity. Because of the checkerboard-like structure, no burden is introduced in sampling compared to traditional calibrations. Experimental results show the effectiveness of the proposed calibration method. The conceived pattern is especially suitable for the calibration of multi-camera system with limited overlapping scope.

关键词： Camera calibration pattern self-identity checkerboard-like

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Three-Dimensional Path Following control of an Underactuated Robotic Dolphin Using Deep Reinforcement Learning

Three-Dimensional Path Following Control of an Underactuated...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Jincun Liu Zhenna Liu Zhengxing Wu Junzhi Yu State Key Laboratory for Turbulence and Complex Systems BIC-ESAT College of Engineering Peking University Beijing China Shandong Labor Vocational and Technical College Jinan China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China

ISBN: (数字)9781728172934

ISBN: (纸本)9781728172941

In this paper, a novel improved deep reinforcement learning (DRL) strategy is utilized to solve the three-dimensional path-following control problem for an underactuated robotic dolphin in order to meet the complex and intractable hydrodynamic model. Firstly, a brief overview of the developed robotic dolphin consisting of two-degree-of-freedom paired pectoral fins and the slider-crank-based flapping two-joint tail is introduced. After that, path-following controller includes a novel lookahead-based guidance law, decoupling motion strategy, and a deep deterministic policy gradient algorithm based on the the prior knowledge is proposed. The novel lookahead based 3-D LOS guidance law is employed to transform the 3-D waypoints to the desired heading and pitch angles with its simplicity, intuitiveness, and small computational footprint. Finally, the effectiveness of the proposed controller is demonstrated after numerous simulations. It will offer a rich vein of insight for the real-time task execution in bioinspired underwater robots.

关键词： Robots Dolphins Sports Oscillators Biological system modeling Turning Aerospace electronics

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Analyzing the Evolutionary Characteristics of the Cluster of COVID-19 under Anti-contagion Policies 18

Analyzing the Evolutionary Characteristics of the Cluster of...

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18th IEEE International Conference on Intelligence and Security Informatics, ISI 2020

作者： Miao, Pu Tian, Hu Zhang, Xingwei He, Saike Zheng, Xiaolong Dash Wu, Desheng Zeng, Daniel Chinese Academy of Sciences The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Beijing100190 China School of Artificial Intelligence Chinese Academy of Sciences Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Stockholm Business School Stockholm University StockholmSE-106 91 Sweden

ISBN: (纸本)9781728188003

With the rampaging of Coronavirus disease 2019 (COVID-19) across the world, analyzing the dynamic characteristics and understanding the evolutionary patterns of clusters are becoming even more crucial for people and policymakers to make timely responses for avoiding injury caused by COVID-19. To solve the scarcity of the fine-grained spatiotemporal data, we construct a novel dataset about the spread of patients during the resurgent period of the COVID-19 epidemic at the Xinfadi Market in Beijing. Leveraging our self-build dataset, we analyze the evolutionary characteristics of the cluster of COVID-19 under anti-contagion policies and obtained some remarkable evolution patterns. These findings can provide significant insights for policymakers and researchers to understand the evolutionary characteristics regarding the cluster of COVID-19 and deploy effective anti-contagion policies. © 2020 IEEE.

关键词： COVID-19

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Pruning-Based YOLOv4 Algorithm for Underwater Gabage Detection

Pruning-Based YOLOv4 Algorithm for Underwater Gabage Detecti...

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第40届中国控制会议

作者： Manjun Tian Xiali Li Shihan Kong Licheng wu Junzhi Yu School of Information Engineering Minzu University of China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Artificial Intelligence University of Chinese Academy of Sciences Dept.Adv.Manuf.Robot. BIC-ESAT College of Engineering Peking University

To tackle the problem of aquatic environment pollution, a vision-based autonomous underwater garbage cleaning robot has been developed in our laboratory. This paper proposes a garbage detection method based on a modified YOLOv4,allowing high-speed and high-precision object detection. More specifically, the YOLOv4 algorithm is chosen as a basic neural network framework to perform object detection. With the purpose of further improvement on the detection speed, the channel pruning and layer pruning are implemented on the trained YOLOv4 model, while the fine-tuned mechanism assists the pruned model to restore accuracy. In virtue of the improved detection methods, the robot has the ability to collect garbage *** experimental results indicate that the pruned YOLOv4 detection method can still maintain the high performance even though the parameter amount is 7.062% of the original model.

关键词： Object detection aquatic environment garbage cleaning robot modified YOLOv4

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TLogic: A Tangible Programming Tool to Help Children Solve Problems 12th

TLogic: A Tangible Programming Tool to Help Children Solve P...

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12th International Conference on e-Learning and Games, Edutainment 2018

作者： Deng, Xiaozhou Wang, Danli Jin, Qiao The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9783030237110

In this paper, we present TLogic, a tangible programming tool for children aged 6–8. The tool contains two parts: tangible programming blocks and visual tasks with different difficulty levels. Children could use tangible programming blocks to complete visual tasks shown on computer screen. To evaluate our tool, a user study was conducted with 10 children. Results of user study show that the tool could reduce children’s cognitive load while solving the tasks and children are more interested in challenging tasks than easy tasks in our tool. © 2019, Springer Nature Switzerland AG.

关键词： Computer programming

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Dynamic power systems line outage detection using particle filter and partially observed states

arXiv

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arXiv 2021年

作者： Yang, Xiaozhou Chen, Nan Zhai, Chao The Department of Industrial Systems Engineering and Management National University of Singapore Singapore117576 Singapore ETH Zurich Future Resilient Systems Singapore-ETH Centre 1 CREATE Way CREATE Tower Singapore138602 Singapore The School of Automation China University of Geosciences Wuhan430074 China The Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China

Real-time transmission line outage detection is difficult because of partial phasor measurement unit (PMU) deployment and varying outage signal strength. Existing detection approaches focus on monitoring PMU-measured nodal algebraic states, i.e., voltage phase angle and magnitude. The success of such approaches, however, is largely predicated on strong outage signals and the presence of PMUs in the outage location's vicinity. To overcome these limitations, a unified framework is proposed in this work by utilizing both nodal voltage information and generator dynamic states, e.g., rotor angular position. The proposed scheme is shown to be faster and more robust to unknown outage locations through the incorporation of generator dynamics. Using the IEEE 39-bus system simulation data, the proposed scheme's properties and performances compared to existing approaches are presented. The new approach could help improve operators' real-time situational awareness by detecting outages faster and providing a breakdown of outage signals for diagnostic purposes, making future power systems more resilient. Copyright © 2021, The Authors. All rights reserved.

关键词： Monte Carlo methods

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